Action-Consistent Decentralized Belief Space Planning with Inconsistent Beliefs and Limited Data Sharing: Framework and Simplification Algorithms with Formal Guarantees

Tanmoy Kundu, Moshe Rafaeli, Anton Gulyaev +1

In multi-robot systems, ensuring safe and reliable decision making under uncertain conditions demands robust multi-robot belief space planning (MR-BSP) algorithms. While planning w…